High-ground-clearance photovoltaic panel cleaning robot

Abstract

The invention relates to the technical field of photovoltaic power station cleaning equipment, and discloses a high-ground-clearance photovoltaic panel cleaning robot which comprises a chassis base, the output end of a steering motor is fixedly connected with a speed reducer, a rotation angle sensor is fixedly installed at the bottom of a coupler, and a laser radar is fixedly installed on the front face of a mounting frame. A depth camera is fixedly mounted on the inner side of the mounting frame, the output end of the gear motor is fixedly connected with a transmission shaft rod, and a banister brush cylinder is arranged on the inner side of the sliding frame plate. According to the high-ground-clearance photovoltaic panel cleaning robot, the angle of a banister brush cylinder is changed to be attached to the angle of a photovoltaic panel, a mounting frame and hub motor wheels are designed to be of a three-wheel steering technology, the maneuverability and flexibility of the whole robot are improved, the robot can better adapt to the photovoltaic panel with the larger crossing width and the uneven ground through a three-rotation and three-drive high-ground-clearance chassis, and the cleaning efficiency is improved. And the use requirements of photovoltaic power stations on different grounds in more areas can be met.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic power plant cleaning equipment technology, specifically a high ground clearance photovoltaic panel cleaning robot. Background Technology

[0002] Currently, the cleaning of photovoltaic panels in photovoltaic power stations mainly involves manual cleaning and machine cleaning. Manual cleaning is inefficient, while machine cleaning is fast. Existing large and medium-sized photovoltaic panel cleaning equipment mainly adopts a scheme of a walking device plus a working device (robotic arm). The walking device integrates power and hydraulic systems, and the robotic arm, powered by the walking device, can rotate at a certain angle and lift within a certain range. This coordinated movement with the walking device allows the cleaning device to conform to the angle of the photovoltaic panel for cleaning. Existing small-scale photovoltaic cleaning equipment mainly uses a stepping mechanism to drive the cleaning brush on a fixed track on the photovoltaic panel. Water tanks or rainwater collection devices are installed to assist the cleaning brush in cleaning.

[0003] A search revealed a photovoltaic power station intelligent cleaning robot disclosed in Chinese Patent Publication No. CN113500019A. This robot cleans accumulated dust from photovoltaic arrays using solar energy and rainwater. However, the robot's chassis structure is low and cannot form a high ground clearance support structure, meaning the robot cannot create a sufficient gap between itself and the photovoltaic modules on the ground. Therefore, this robot is not suitable for locations with small distances between photovoltaic panels, has certain environmental requirements, and lacks versatility. It requires reserving long passageways during the initial design of the photovoltaic power station, wasting a significant amount of space and reducing land utilization, thus lowering the overall efficiency of the photovoltaic power station. Therefore, further improvements are needed in the robot's structure. Hence, this paper proposes a high ground clearance photovoltaic panel cleaning robot. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a high-clearance photovoltaic panel cleaning robot, which has the advantages of better road passability and is free from dependence on the road spacing between photovoltaic panels. This solves the problems in the background technology of intelligent cleaning robots for photovoltaic power stations that cannot form a high-clearance support structure, rely excessively on the road spacing between photovoltaic panels, and are inconvenient for automatic obstacle avoidance and movement.

[0006] (II) Technical Solution

[0007] To achieve the aforementioned goal of having better road passability and eliminating dependence on the road spacing between photovoltaic panels, the present invention provides the following technical solution: a high ground clearance photovoltaic panel cleaning robot, including a chassis base, a mounting frame fixedly connected to the top of the chassis base, a control box fixedly connected to the top of the mounting frame, a spring shock absorber fixedly connected to the inner side of the mounting frame, a bogie rotatably connected to the bottom of the chassis base, a hub motor wheel movably mounted on the inner side of the bogie, a directional drive assembly provided on the top of the chassis base, and a cleaning structure provided on the inner side of the mounting frame;

[0008] The steering drive assembly includes a steering motor, a reducer, a coupling, an angle sensor, a rotary fastener, a lidar, a depth camera, and a first angle sensor. The steering motor is fixedly mounted on the top of the chassis base. The output end of the steering motor is fixedly connected to the reducer. The bottom of the reducer is fixedly connected to the coupling. The angle sensor is fixedly mounted on the bottom of the coupling. A rotary fastener is provided on the bottom of the coupling. The lidar is fixedly mounted on the front of the mounting bracket. The depth camera is fixedly mounted on the inner side of the mounting bracket. The first angle sensor is provided on the top of the mounting bracket.

[0009] The cleaning structure includes an electric push rod, a slide plate, a geared motor, a drive shaft, a second angle sensor, a soft brush cylinder, and an atomizing tube. The electric push rod is fixedly installed on the inner top wall of the mounting frame. The slide plate is fixedly connected to the bottom of the electric push rod. The geared motor is fixedly installed on the front of the slide plate. The output end of the geared motor is fixedly connected to the drive shaft. The second angle sensor is fixedly connected to the front of the slide plate. A soft brush cylinder is provided on the inner side of the slide plate. An atomizing tube is provided on the inner top wall of the mounting frame.

[0010] Preferably, the mounting bracket includes a first bracket and a second bracket. A hinge is fixedly connected to the top left side of the second bracket. The top of the first bracket is hinged to the inner side of the hinge. The top and bottom of the spring shock absorber are both hinged with lugs. The two lugs are fixedly connected to the inner top wall of the second bracket and the top right side of the first bracket, respectively. The first angle sensor is fixedly connected to the front of the hinge. The top front end of the first bracket is rotatably connected to the rear side of the first angle sensor.

[0011] Preferably, the output end of the steering motor is fixedly connected to a first rotating shaft, the first rotating shaft is fixedly connected to the top of the reducer, the bottom of the reducer is fixedly connected to a second rotating shaft, the second rotating shaft is fixedly connected to the top of the coupling, the bottom of the coupling is fixedly connected to a third rotating shaft, and the bottom of the third rotating shaft is fixedly connected to the top of the angle sensor.

[0012] Preferably, the rotating fastener has a first groove and a second groove inside. The bottom of the corner sensor is fixedly connected to the inner side of the first groove, and the top of the bogie is fixedly connected to the inner side of the second groove. There are two lidars, which are located on the front of the first bracket and the second bracket, respectively. Each lidar has a laser emitting end and a laser receiving end on its front.

[0013] Preferably, each of the lidar is equipped with a laser signal processor, which is equipped with a ranging algorithm module. There are two depth cameras, one of which has an infrared light source port and an optical lens on its front and the other has an optical lens on its left side.

[0014] Preferably, each of the two depth cameras is equipped with an imaging sensor and an electronic control unit. The electronic control unit is connected to the imaging sensor via a light pulse sequence and a chip electronic shutter. Each depth camera is equipped with a data processing unit. The control box is equipped with a control processor, which is connected to the data processing unit and the ranging algorithm module.

[0015] Preferably, the control box is equipped with a power control module, there are four electric push rods, all of which are electrically connected to the power control module, there are two carriage plates, and the inner sides of the two carriage plates are provided with cavity structures. The drive shaft is located inside one of the carriage plates, and two connecting rods are fixedly connected to the outside of the drive shaft. The bottom of the two connecting rods is hinged to a first fixing plate.

[0016] Preferably, a support rod is rotatably connected to the inner side of another slide plate, the rear end of the second angle sensor is fixedly connected to the front end of the support rod, a second fixing plate is fixedly connected to the outside of the support rod, the left and right ends of the soft brush cylinder are rotatably connected to the opposite side of the first fixing plate and the second fixing plate, respectively, a servo motor is fixedly installed on the right side of the second fixing plate, the output end of the servo motor is fixedly connected to the right end of the soft brush cylinder, and a bristle layer is provided on the outside of the soft brush cylinder.

[0017] Preferably, a water storage tank is fixedly connected to the inner top wall of the second bracket, a drain pipe is fixedly connected to the bottom of the water storage tank, a solenoid valve is fixedly connected inside the drain pipe, and the bottom of the drain pipe is fixedly connected to the top of the atomizing tube. A number of atomizing nozzles are fixedly connected to the bottom of the atomizing tube and are evenly distributed, with each atomizing nozzle located directly above the soft brush cylinder.

[0018] (III) Beneficial Effects

[0019] Compared with the prior art, the present invention provides a high ground clearance photovoltaic panel cleaning robot, which has the following beneficial effects:

[0020] This high-clearance photovoltaic panel cleaning robot uses a geared motor to drive a transmission shaft and connecting rod, causing the left side of the soft brush cylinder to tilt and rise with the connecting rod, thereby changing the angle of the soft brush cylinder to fit the angle of the photovoltaic panel for easy cleaning. The mounting frame and hub motor wheels are designed with three-wheel steering technology, increasing the overall mobility and flexibility of the vehicle. Compared with existing technologies, the soft brush cylinder can clean photovoltaic power stations with smaller row spacing between photovoltaic panels. Compared with the traditional four-wheeled system, one wheel is reduced, and the entire body becomes a triangular structure. The first bracket is hinged to the second bracket through a hinge, and the two side brackets also have spring shock absorbers to release the torque caused by the original frame weight. Under the premise of bearing the same weight, smaller material size or cheaper materials can be used, which not only reduces the overall weight of the vehicle but also increases the strength and makes the structure more stable. The first bracket can swing around the hinge to a certain extent, thus better adapting to photovoltaic panels with longer span widths and uneven ground, making the mechanism more flexible. Relying on the three-turn, three-drive high-clearance chassis, it can meet the usage requirements of photovoltaic power stations with different ground conditions in more regions. Attached Figure Description

[0021] Figure 1 This is a three-dimensional view of the overall structure of the present invention;

[0022] Figure 2 This is a front view of the structure of the present invention;

[0023] Figure 3 This is a partial front view of the structure of the present invention;

[0024] Figure 4 For the present invention Figure 3 A schematic diagram of one of the carriage plate structures;

[0025] Figure 5 For the present invention Figure 3 Another schematic diagram of the carriage plate structure;

[0026] Figure 6 This is a front view of the wheel structure of the hub motor of the present invention;

[0027] Figure 7 This is a side view of the wheel structure of the hub motor of the present invention;

[0028] Figure 8 This is a schematic diagram of the rotating fastener structure of the present invention;

[0029] Figure 9 This is a flowchart of the robot movement control structure of the present invention;

[0030] Figure 10This is a flowchart illustrating the movement control of the soft brush cylinder of the present invention.

[0031] In the diagram: 1. Chassis base; 2. Mounting bracket; 201. First bracket; 202. Second bracket; 3. Control box; 4. Spring shock absorber; 5. Bogie; 6. Hub motor wheel; 7. Steering drive assembly; 701. Steering motor; 702. Reducer; 703. Coupling; 704. Angle sensor; 705. Rotary fastener; 7051. Groove No. 1; 7052. Groove No. 2; 706. LiDAR; 707. Depth camera; 708. First angle sensor; 8. Cleaning structure; 801. Electric push rod; 802. Carriage plate; 803. Gear motor; 804. Drive shaft; 805. Second angle sensor; 806. Soft brush tube; 807. Atomizing tube. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please see Figure 1-10 A high ground clearance photovoltaic panel cleaning robot includes a chassis 1, a mounting frame 2 fixedly connected to the top of the chassis 1, a control box 3 fixedly connected to the top of the mounting frame 2, a spring shock absorber 4 fixedly connected to the inner side of the mounting frame 2, a bogie 5 rotatably connected to the bottom of the chassis 1, a hub motor wheel 6 movably mounted on the inner side of the bogie 5, a directional drive assembly 7 provided on the top of the chassis 1, and a cleaning structure 8 provided on the inner side of the mounting frame 2.

[0034] The steering drive assembly 7 includes a steering motor 701, a reducer 702, a coupling 703, an angle sensor 704, a swivel fastener 705, a lidar 706, a depth camera 707, and a first angle sensor 708. The steering motor 701 is fixedly mounted on the top of the chassis base 1. The reducer 702 is fixedly connected to the output end of the steering motor 701. The coupling 703 is fixedly connected to the bottom of the reducer 702. The angle sensor 704 is fixedly mounted on the bottom of the coupling 703. The swivel fastener 705 is provided at the bottom of the coupling 703. The lidar 706 is fixedly mounted on the front of the mounting bracket 2. The depth camera 707 is fixedly mounted on the inner side of the mounting bracket 2. The first angle sensor 708 is provided on the top of the mounting bracket 2.

[0035] The cleaning structure 8 includes an electric push rod 801, a slide plate 802, a reduction motor 803, a transmission shaft 804, a second angle sensor 805, a soft brush cylinder 806, and an atomizing tube 807. The electric push rod 801 is fixedly installed on the inner top wall of the mounting frame 2. The slide plate 802 is fixedly connected to the bottom of the electric push rod 801. The reduction motor 803 is fixedly installed on the front of the slide plate 802. The output end of the reduction motor 803 is fixedly connected to the transmission shaft 804. The second angle sensor 805 is fixedly connected to the front of the slide plate 802. The soft brush cylinder 806 is provided on the inner side of the slide plate 802. The atomizing tube 807 is provided on the inner top wall of the mounting frame 2.

[0036] Example 1

[0037] Mounting bracket 2 includes a first bracket 201 and a second bracket 202. A hinge is fixedly connected to the top left side of the second bracket 202. The top of the first bracket 201 is hinged to the inner side of the hinge. The top and bottom of the spring shock absorber 4 are both hinged with lifting lugs. The two lifting lugs are fixedly connected to the inner top wall of the second bracket 202 and the top right side of the first bracket 201, respectively. The first angle sensor 708 is fixedly connected to the front of the hinge. The top front end of the first bracket 201 is rotatably connected to the rear side of the first angle sensor 708.

[0038] In this embodiment, the mounting frame 2 is divided into a first support 201 and a second support 202 on the left and right sides. The first support 201 is a Y-shaped steel pipe structure, and the second support 202 is a combination structure of a triangular steel plate and two steel pipes, so that the first support 201 and the second support 202 form a triangular support structure, making the entire body an integral unit and increasing its strength and stability. The top of the first support 201 is hinged to the top left side of the second support 202 through a hinge, thereby ensuring the rotation effect of the first support 201. At the same time, the top and bottom of the spring shock absorber 4 are hinged to the inner top wall of the second support 202 and the right top side of the first support 201 through lifting lugs, which can ensure that after the first support 201 swings to a certain extent, it can be reset by the extension and retraction of the spring shock absorber 4, controlling the swing of the first support 201 within a certain range. In addition, the spring shock absorber 4 can reduce the vibration when the first support 201 swings, making the movement of the entire support body more stable.

[0039] Meanwhile, a first angle sensor 708 is installed on the front of the hinge. When the first bracket 201 moves to a steep slope section, the first bracket 201 will swing around the central axis of the hinge with a certain amplitude. When the first angle sensor 708 detects that the swing angle is too large or too small, the control processor of the control box 3 receives the signal and controls the steering motor 701 to control the wheel hub motor 6 through the bogie 5 to swing at an angle opposite to the swing direction of the entire bracket body, so that the first bracket 201 swings in the target direction. When the first bracket 201 is at a suitable angle, the steering motor 701 is controlled to stop working, thereby controlling the swing of the entire bracket body within a suitable range.

[0040] Example 2

[0041] The output end of the steering motor 701 is fixedly connected to a first rotating shaft, which is fixedly connected to the top of the reducer 702. The bottom of the reducer 702 is fixedly connected to a second rotating shaft, which is fixedly connected to the top of the coupling 703. The bottom of the coupling 703 is fixedly connected to a third rotating shaft, and the bottom of the third rotating shaft is fixedly connected to the top of the angle sensor 704. The rotating fastener 705 has a first groove 7051 and a second groove 7052 inside. The bottom of the angle sensor 704 is fixedly connected to the inner side of the first groove 7051, and the top of the bogie 5 is fixedly connected to the inner side of the second groove 7052. There are two lidars 706, which are located on the front of the first bracket 201 and the second bracket 202, respectively. Each lidar 706 has a laser emitter and a laser receiver on its front.

[0042] Each lidar 706 contains a laser signal processor, which in turn contains a ranging algorithm module. There are two depth cameras 707, one of which has an infrared light source port and an optical lens on its front and the other on its left side. Each depth camera 707 contains an imaging sensor and an electronic control unit. The electronic control unit is connected to the imaging sensor via a light pulse sequence and a chip-based electronic shutter. Each depth camera 707 contains a data processing unit. The control box 3 contains a control processor, which is connected to the data processing unit and the ranging algorithm module.

[0043] In this embodiment, batteries are provided on both chassis bases 1 to provide power to the steering motor 701. The reducer 702 controls the speed of the output end of the steering motor 701 through the first rotating shaft, and the steering motor 701 provides steering power. The reducer 702 drives the angle sensor 704 through the second rotating shaft, coupling 703 and third rotating shaft. Then, by comparing the measured value of the angle sensor 704 with the desired angle, the angle of the steering motor 701 is controlled. The inner ring protrusion of the angle sensor 704 is connected to the first groove 7051, and the second groove 7052 of the rotating fastener 705 is connected to the top protrusion of the bogie 5, thereby realizing the transmission of force from the hub motor wheel 6 to the angle sensor 704 during the wheel rotation process.

[0044] The control process for the cleaning robot's movement is as follows: First, the LiDAR 706 and one of the depth cameras 707 scan and identify the environment around the cleaning robot and the photovoltaic panel. The laser receiver of the LiDAR 706 transmits the reflected laser information to the internal laser signal processor. The laser signal processor converts the laser signal into an electrical signal, and the internal ranging algorithm module calculates the distance to obstacles in front, transmitting the distance data to the control processor in the control box 3 for processing. One of the depth cameras 707 emits infrared light from its infrared light source port, which is reflected and received by the optical lens. After imaging in the imaging sensor, the electronic control unit transmits the image through the light pulse... The imaging data is transmitted to the data processing unit via the flash sequence and the chip electronic shutter. The data processing unit then transmits the data information to the control processor, which models the environment around the photovoltaic panel based on the information. This allows the control processor to plan the optimal path for the cleaning robot to pass through the photovoltaic panel. The control processor then sends a turning angle signal to the steering motor 701 to control the angle and direction of the wheel rotation. It also sends strong or weak signals to the hub motor to control the forward and reverse rotation and speed of the hub motor. During the movement, the control processor monitors in real time whether the cleaning robot has reached the target working position. If it has, it controls the steering and hub motors to stop working, thus achieving the movement control of the cleaning robot.

[0045] Example 3

[0046] The control box 3 contains a power control module. There are four electric push rods 801, all of which are electrically connected to the power control module. There are two carriage plates 802, and the inner side of each carriage plate 802 has a cavity structure. The drive shaft 804 is located inside one of the carriage plates 802. Two connecting rods are fixedly connected to the outside of the drive shaft 804. The bottom of each of the two connecting rods is hinged to a first fixing plate. The inner side of the other carriage plate 802 is rotatably connected to a support rod. The rear end of the second angle sensor 805 is fixedly connected to the front end of the support rod. The outside of the support rod is fixedly connected to a second fixing plate. The left and right ends of the soft brush cylinder 806 are rotatably connected to the opposite side of the first and second fixing plates, respectively. A servo motor is fixedly installed on the right side of the second fixing plate. The output end of the servo motor is fixedly connected to the right end of the soft brush cylinder 806. The soft brush cylinder 806 has a bristle layer on its outside.

[0047] The second bracket 202 has a water tank fixedly connected to its inner top wall, a drain pipe fixedly connected to its bottom, a solenoid valve fixedly connected inside the drain pipe, and the bottom of the drain pipe fixedly connected to the top of the atomizing tube 807. The bottom of the atomizing tube 807 has a number of atomizing nozzles that are evenly distributed, and each atomizing nozzle is located directly above the soft brush cylinder 806.

[0048] When the cleaning robot moves to the working position, another depth camera 707 identifies the structure of the photovoltaic panel, thus determining that the cleaning robot has entered the working area where the photovoltaic panel needs to be cleaned. The control processor, based on the previously modeled angle of the photovoltaic panel, causes the electric push rod 801 to lower the slide plate 802 and the soft brush cylinder 806 closer to the photovoltaic panel. The control motor 803 drives the transmission shaft 804, which, through a connecting rod, tilts and raises the first fixed plate at the left end of the soft brush cylinder 806, thereby adjusting the tilt angle of the soft brush cylinder 806. The second angle sensor 805 is connected to a support rod on the first fixed plate at the right end of the soft brush cylinder 806. As the tilt angle of the soft brush cylinder 806 changes, the second angle sensor 805 generates angle data, which is then transmitted to the control processor inside the control box 3. The system determines whether the soft brush cylinder 806 has adhered to the photovoltaic panel. Once the target angle is reached, the control motor 803 stops working, and the servo motor drives the soft brush cylinder 806 to clean. Similarly, when the photovoltaic panel structure moves out of the recognition area of ​​another detection depth camera 707, it is determined that the cleaning robot has left the work area. The control processor controls the reduction motor 803 to drive the transmission shaft 804, causing the first fixed plate at the left end of the soft brush cylinder 806 to tilt and descend. At the same time, the control servo motor stops working, and the electric push rod 801 drives the slide plate 802 and the soft brush cylinder 806 to rise away from the photovoltaic panel. While the soft brush cylinder 806 is cleaning, the control processor controls the solenoid valve of the drain pipe to open, and clean water enters the atomizing pipe 807 through the drain pipe. Several atomizing nozzles are used to wet the soft brush cylinder 806, making it easier to clean dirt.

[0049] In summary, this high-clearance photovoltaic panel cleaning robot uses a geared motor 803 to drive a transmission shaft 804 and a connecting rod, causing the left side of the soft brush cylinder 806 to tilt and rise with the connecting rod, thereby changing the angle of the soft brush cylinder 806 to fit the angle of the photovoltaic panel and facilitate cleaning. The mounting frame 2 and the hub motor wheels 6 are designed with three-wheel steering technology, increasing the vehicle's maneuverability. Compared to existing technologies, this allows the soft brush cylinder 806 to clean photovoltaic power stations with smaller row spacing between the photovoltaic panels. Compared to traditional four-wheeled systems, one wheel is reduced, and the entire body becomes a triangular structure. The frame 201 is hinged to the second bracket 202 via a hinge joint. The two side brackets also have spring shock absorbers 4 to release the rotational torque caused by the original frame weight. Under the premise of bearing the same weight, smaller material size or cheaper materials can be used, which not only reduces the overall vehicle weight but also increases strength and makes the structure more stable. The first bracket 201 can swing around the hinge joint to a certain extent, so it can better adapt to the longer span width of photovoltaic panels and uneven ground, making the mechanism more flexible. Relying on the three-wheel drive high ground clearance chassis, it can meet the usage requirements of photovoltaic power stations in more regions with different ground conditions.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0051] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high ground clearance photovoltaic panel cleaning robot, comprising a chassis base (1), characterized in that: A mounting bracket (2) is fixedly connected to the top of the chassis base (1), a control electrical box (3) is fixedly connected to the top of the mounting bracket (2), a spring shock absorber (4) is fixedly connected to the inner side of the mounting bracket (2), a bogie (5) is rotatably connected to the bottom of the chassis base (1), a hub motor wheel (6) is movably installed on the inner side of the bogie (5), a steering drive assembly (7) is provided on the top of the chassis base (1), and a cleaning structure (8) is provided on the inner side of the mounting bracket (2). The steering drive assembly (7) includes a steering motor (701), a reducer (702), a coupling (703), an angle sensor (704), a swivel fastener (705), a lidar (706), a depth camera (707), and a first angle sensor (708). The steering motor (701) is fixedly mounted on the top of the chassis base (1). The reducer (702) is fixedly connected to the output end of the steering motor (701). The coupling (703) is fixedly connected to the bottom of the reducer (702). The angle sensor (704) is fixedly mounted on the bottom of the coupling (703). The swivel fastener (705) is provided on the bottom of the coupling (703). The lidar (706) is fixedly mounted on the front of the mounting bracket (2). The depth camera (707) is fixedly mounted on the inner side of the mounting bracket (2). The first angle sensor (708) is provided on the top of the mounting bracket (2). The cleaning structure (8) includes an electric push rod (801), a slide plate (802), a reduction motor (803), a transmission shaft (804), a second angle sensor (805), a soft brush cylinder (806), and an atomizing tube (807). The electric push rod (801) is fixedly installed on the inner top wall of the mounting bracket (2). The slide plate (802) is fixedly connected to the bottom of the electric push rod (801). The reduction motor (803) is fixedly installed on the front side of the slide plate (802). The transmission shaft (804) is fixedly connected to the output end of the reduction motor (803). The second angle sensor (805) is fixedly connected to the front side of the slide plate (802). The soft brush cylinder (806) is provided on the inner side of the slide plate (802). The atomizing tube (807) is provided on the inner top wall of the mounting bracket (2).

2. The high ground clearance photovoltaic panel cleaning robot according to claim 1, characterized in that: The mounting bracket (2) includes a first bracket (201) and a second bracket (202). A hinge is fixedly connected to the top left side of the second bracket (202). The top of the first bracket (201) is hinged to the inner side of the hinge. The top and bottom of the spring shock absorber (4) are both hinged with lugs. The two lugs are fixedly connected to the inner top wall of the second bracket (202) and the top right side of the first bracket (201), respectively. The first angle sensor (708) is fixedly connected to the front of the hinge. The top front end of the first bracket (201) is rotatably connected to the rear side of the first angle sensor (708).

3. The high ground clearance photovoltaic panel cleaning robot according to claim 1, characterized in that: The output end of the steering motor (701) is fixedly connected to a first rotating shaft, which is fixedly connected to the top of the reducer (702). The bottom of the reducer (702) is fixedly connected to a second rotating shaft, which is fixedly connected to the top of the coupling (703). The bottom of the coupling (703) is fixedly connected to a third rotating shaft, which is fixedly connected to the top of the angle sensor (704).

4. A high ground clearance photovoltaic panel cleaning robot according to claim 2, characterized in that: The rotating fastener (705) has a first groove (7051) and a second groove (7052) inside. The bottom of the angle sensor (704) is fixedly connected to the inner side of the first groove (7051). The top of the bogie (5) is fixedly connected to the inner side of the second groove (7052). There are two laser radars (706), which are located on the front of the first bracket (201) and the second bracket (202) respectively. Each laser radar (706) has a laser emitting end and a laser receiving end on its front.

5. A high ground clearance photovoltaic panel cleaning robot according to claim 4, characterized in that: Each of the lidar (706) is equipped with a laser signal processor, which is equipped with a ranging algorithm module. There are two depth cameras (707), one of which has an infrared light source port and an optical lens on its front and the other has an optical lens on its left side.

6. A high ground clearance photovoltaic panel cleaning robot according to claim 5, characterized in that: Both depth cameras (707) are equipped with an imaging sensor and an electronic control unit. The electronic control unit is connected to the imaging sensor via a light pulse sequence and a chip electronic shutter. Each depth camera (707) is equipped with a data processing unit. The control box (3) is equipped with a control processor. The control processor is connected to the data processing unit and the ranging algorithm module.

7. A high ground clearance photovoltaic panel cleaning robot according to claim 1, characterized in that: The control box (3) is equipped with a power control module. There are four electric push rods (801), all of which are electrically connected to the power control module. There are two carriage plates (802). The inner side of each of the two carriage plates (802) is provided with a cavity structure. The transmission shaft (804) is located inside one of the carriage plates (802). Two connecting rods are fixedly connected to the outside of the transmission shaft (804). The bottom of each of the two connecting rods is hinged with a first fixing plate.

8. A high ground clearance photovoltaic panel cleaning robot according to claim 7, characterized in that: Another slide plate (802) has a support rod rotatably connected to its inner side. The rear end of the second angle sensor (805) is fixedly connected to the front end of the support rod. A second fixing plate is fixedly connected to the outside of the support rod. The left and right ends of the soft brush cylinder (806) are rotatably connected to the opposite side of the first fixing plate and the second fixing plate, respectively. A servo motor is fixedly installed on the right side of the second fixing plate. The output end of the servo motor is fixedly connected to the right end of the soft brush cylinder (806). A bristle layer is provided on the outside of the soft brush cylinder (806).

9. A high ground clearance photovoltaic panel cleaning robot according to claim 2, characterized in that: A water storage tank is fixedly connected to the inner top wall of the second bracket (202). A drain pipe is fixedly connected to the bottom of the water storage tank. A solenoid valve is fixedly connected inside the drain pipe. The bottom of the drain pipe is fixedly connected to the top of the atomizing tube (807). A number of atomizing nozzles are fixedly connected to the bottom of the atomizing tube (807) and are evenly distributed. Each atomizing nozzle is located directly above the soft brush cylinder (806).

Images